SLAM Toolbox for Matlab.
========================

This git repository provides EKF-SLAM and graph-SLAM toolboxes.


I. Copyright and license.
=========================
(c) 2007, 2008, 2009, 2010  Joan Sola  @ LAAS-CNRS; 
(c) 2010, 2011, 2012, 2013  Joan Sola
(c) 2014, 2015, 2016        Joan Sola  @ IRI-UPC-CSIC; 
(c) 2009  Joan Sola, David Marquez, Jean Marie Codol,
          Aurelien Gonzalez and Teresa Vidal-Calleja, @ LAAS-CNRS; 

Maintained by Joan Sola
Please write feedback, suggestions and bugs to:

    jsola@iri.upc.edu

or use the GitHub web tools.

Published under GPL license. See COPYING.txt. 


II. Giving credit
=================

In addition to the GPL license, users should consider, in their scientific 
communications :

A. acknowledging the use of this toolbox.

B. citing one of the papers of the authors: 

  - SOLA-ETAL-IJCV-11 "Impact of landmark parametrization on monocular EKF-SLAM with points and lines"
  - SOLA-ETAL-IROS-09 "Undelayed initialization of line segments in monocular SLAM"
  - SOLA-ETAL-TRO-08  "Fusing monocular information in multi-camera SLAM"
  - SOLA-ETAL-IROS-05 "Undelayed initialization in bearing only SLAM" 

appearing in the References section in the documentation.


III. Installation and quick usage.
==================================

To make it work, start Matlab and follow these steps:

A. In the terminal: 
-------------------

1. Get the source code,

        git clone git://github.com/joansola/slamtb.git

2. Go to the toolbox 
        
        cd slamtb

3. Select the correct project.

    3a. For EKF SLAM toolbox:

        git checkout master

    3b. For graph-SLAM toolbox

        git checkout graph

B. In the Matlab prompt:  
------------------------

1. Go to the toolbox 
        
        >> cd slamtb

2. Add all subdirectories in slamtb/ to your Matlab path using the provided script: 
        
        >> slamrc

3. Edit user data file, and enter the data of your experiment.

    3a. For EKF-SLAM, edit userData.m.

    3b. For graph-SLAM, edit userDataGraph.m

4. Run the main script

    4a. For EKF-SLAM, 
        
        >> slamtb.

    4b. For graph-SLAM

        >> slamtb_graph

5. To develop methods, read first slamToolbox.pdf and guidelines.pdf. 
   For graph-SLAM, read also courseSLAM.pdf.

Enjoy!